Reflectivity support

[alek-kam-robotec-ai]

This pr introduces support for the reflectivity field. It is related to the RobotecAI/o3de-extras#63.

Summary by CodeRabbit

Release Notes

• New Features

  • Added support for reflectivity data in Lidar raycasting
  • Enhanced Lidar system capabilities with new reflectivity feature

• Dependency Updates

  • Updated RGL library version from 0.19.0 to 0.20.0

• Technical Improvements

  • Expanded raycast result processing to include reflectivity information
  • Updated pipeline graph to handle new reflectivity field

[robotecadmin]

@coderabbitai full review

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✅ Actions performed

Full review triggered.

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Walkthrough

The pull request introduces support for reflectivity in the lidar system by updating the RGL library version to 0.20.0 and modifying several components to handle a new reflectivity field. Changes span across multiple files in the Lidar subsystem, adding reflectivity as a supported feature and updating methods to process and store reflectivity data during raycasting operations.

Changes

File	Change Summary
Code/FindRGL.cmake	- Updated RGL library version from 0.19.0 to 0.20.0 - Removed ROS_DISTRO_METADATA variable
Code/Source/Lidar/LidarRaycaster.cpp	- Added handling for reflectivity flag in ConfigureRaycastResultFlags - Updated PerformRaycast to copy reflectivity results - Modified GetRglResultsSize to include reflectivity size checks
Code/Source/Lidar/LidarSystem.cpp	- Added Reflectivity to SupportedFeatures bitwise combination
Code/Source/Lidar/PipelineGraph.cpp	- Added new case for processing RGL_FIELD_REFLECTIVITY_F32 in GetResults method
Code/Source/Lidar/PipelineGraph.h	- Added m_reflectivity member variable to RaycastResults struct

Sequence Diagram

sequenceDiagram
    participant LidarSystem
    participant LidarRaycaster
    participant PipelineGraph
    
    LidarSystem->>LidarRaycaster: Configure Raycast with Reflectivity
    LidarRaycaster->>PipelineGraph: Perform Raycast
    PipelineGraph-->>LidarRaycaster: Return Results with Reflectivity
    LidarRaycaster->>LidarSystem: Provide Raycast Results

Loading

Poem

🐰 A Rabbit's Ode to Reflectivity 🌈

In rays of light, a new dimension gleams,
Reflections dance where data softly streams,
Our lidar leaps with feature bright and bold,
A shimmer added to the world we hold!
Hop forward, code, with radiance unfurled! 🚀

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📜 Recent review details

Configuration used: CodeRabbit UI
Review profile: CHILL
Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between 122b41e and d09b8d2.

📒 Files selected for processing (5)

• Code/FindRGL.cmake (1 hunks)
• Code/Source/Lidar/LidarRaycaster.cpp (3 hunks)
• Code/Source/Lidar/LidarSystem.cpp (1 hunks)
• Code/Source/Lidar/PipelineGraph.cpp (1 hunks)
• Code/Source/Lidar/PipelineGraph.h (1 hunks)

🔇 Additional comments (7)

Code/Source/Lidar/LidarSystem.cpp (1)

33-33: Reflectivity support successfully integrated.
Great addition of Features::Reflectivity to broaden sensor output data. Ensure consumers of the LidarSystem handle reflectivity properly in post-processing steps.

Code/FindRGL.cmake (1)

14-14: Upgrade may require compatibility checks.
This version bump from 0.19.0 to 0.20.0 should be systematically tested to verify no unexpected incompatibilities were introduced.

✅ Verification successful

Let me gather more information about the RGL version usage and changes.

---

Let me gather more information about the RGL version changes and their impact.

---

Let me check for any dependencies or integration points that might be affected by this version change.

---

Based on the comprehensive analysis of the codebase, I can now provide a final response regarding the RGL version upgrade.

Version upgrade from 0.19.0 to 0.20.0 appears safe to proceed
The version change in FindRGL.cmake is a straightforward dependency update that downloads the RGL core library. The codebase shows:

• No version-specific API usage or feature checks
• No explicit version compatibility checks
• Consistent use of standard RGL API calls across the codebase
• No breaking changes evident in the API usage patterns

The codebase primarily interacts with RGL through stable interfaces:

• Core RGL API calls (rgl_node_, rgl_graph_, rgl_entity_*)
• Standard data structures (rgl_vec3f, rgl_mat3x4f, etc.)
• Common field types (RGL_FIELD_*)

Since there are no explicit version checks or version-dependent code paths, and the RGL API usage appears stable and standard, the version upgrade should be compatible with the existing codebase.

🏁 Scripts executed

The following scripts were executed for the analysis:

Script:

#!/bin/bash
# Checking references to the newly introduced 0.20.0 RGL library.
rg "0\.20\.0" -A 2

Length of output: 131

---

Script:

#!/bin/bash
# Check git history for previous RGL version
git diff HEAD~1 Code/FindRGL.cmake

# Look for any RGL-related configuration or dependency files
fd -e cmake -e txt -e json -e xml . | xargs rg -i "rgl.*version|version.*rgl"

# Search for RGL usage patterns in the codebase
rg -i "rgl" -A 2

Length of output: 71489

---

Script:

#!/bin/bash
# Check for any changelog or release notes
fd -e md -e txt | xargs rg -i "changelog|release.*notes|breaking.*changes"

# Look for version-dependent code or version checks
rg -i "version.*check|version.*require|minimum.*version|compatible.*version"

# Check for any configuration files that might have version dependencies
fd -e json -e yaml -e cmake | xargs rg "0\.19|0\.20"

Length of output: 253

---

Script:

#!/bin/bash
# Check for RGL API usage and integration points
rg -A 3 "rgl_" --type cpp --type h

# Look for any version-specific functionality or features
rg -i "feature|capability|function.*require" -g "*.cpp" -g "*.h" -g "*.cmake"

# Check for any test files that might verify RGL functionality
fd -e test.cpp -e test.h -e tests.cpp -e tests.h | xargs rg "RGL"

Length of output: 69602

Code/Source/Lidar/PipelineGraph.h (1)

43-43: Reflectivity field addition looks good.
Including m_reflectivity in RaycastResults is an excellent way to track sensor reflectivity data. Please confirm your test coverage extends to reflectivity-specific logic.

Code/Source/Lidar/PipelineGraph.cpp (1)

158-160: Ensure consistent data handling for the reflectivity field.
Retrieving reflectivity within GetResults completes the pipeline. Verify the returned reflectivity vector aligns with other vectors (e.g., distance, intensity) for each ray.

✅ Verification successful

Let me gather more information about the data handling consistency.

---

Let me check one more aspect to verify the size consistency checks.

---

Reflectivity field handling is properly validated and consistent
Based on the code analysis, the reflectivity field is handled consistently with proper size validation:

• The field is retrieved using GetResult alongside other fields (xyz, distance, intensity, etc.) in PipelineGraph.cpp
• Size consistency is enforced in LidarRaycaster.cpp where all present fields, including reflectivity, must have matching sizes
• If any size mismatch is detected between vectors, the operation returns nullopt

🏁 Scripts executed

The following scripts were executed for the analysis:

Script:

#!/bin/bash
# Checking for usage references to reflectivity retrieval in the codebase:
rg -A 3 "m_reflectivity"

Length of output: 1363

---

Script:

#!/bin/bash
# Check for GetResult implementation and other field retrievals
ast-grep --pattern 'GetResult($_,$_)'

# Check for other field retrievals in the same context
rg -B 3 -A 3 "GetResult.*RGL_FIELD"

Length of output: 2174

---

Script:

#!/bin/bash
# Check for size consistency validations
rg -B 5 -A 5 "size\(\)" Code/Source/Lidar/LidarRaycaster.cpp

Length of output: 4011

Code/Source/Lidar/LidarRaycaster.cpp (3)

121-125: Reflectivity field inclusion looks good.

The added logic correctly extends the raycaster capability to handle reflectivity data. This is consistent with the existing pattern for other fields like Intensity, ensuring consistency in how new fields are appended and processed.

---

198-202: Ensure reflectivity usage is tested.

Copying reflectivity data into the result array mirrors how other fields are handled. However, to prevent regressions and ensure numerical correctness, please add or update unit/integration tests confirming that the reflectivity values transferred here align with expectations under various conditions (e.g., different reflectivity intensities).

---

321-332: Size check logic is consistent with other fields.

The reflectivity size checks correctly align with how other fields (e.g., range, intensity) are validated, preventing potential out-of-bounds errors. This ensures that the reflectivity field is treated the same way as existing fields, which is beneficial for maintainability.

---

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